제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Motion Teaching Method for Complex Robot Links Using Motor Current Sensing

  • Bang, Young-Bong (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee, Won-Seok (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee, Kyung-Min (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, In-Su (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Paik, Kyu-Jin (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Shin, Bu-Hyun (School of Mechanical and Aerospace Engineering, Seoul National University)
  • Published : 2005.06.02
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Abstract

Robots today have wider application fields than they ever have before. They need to work close to humans and fluid and compliable motions are expected of them. This requires redundant degrees of freedom for completing specific task. And conventional motion teaching method cannot be applied to redundant link structures. In this paper, the authors present a proficient, cost-effective and intuitive method for motion teaching. New software to apply this method to a humanoid is also presented. This new method utilizes current sensors to determine which joints to rotate. The experiment shown in this paper is a case of closed link where arms cannot move independently due to the restrictions in between the hands. After the input of several passing points of motion trajectory, the curve fitting is performed by the developed software. This software can insert new points, delete erroneous points and modify existing points. The developed motion teaching method is applied to the Kumdo robot, which is developed by the authors.

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